AP_Compass: Alert GCS if user tries to calibrate compass while vehicle is armed

5 years ago · cbccdfa8a3
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_Compass/AP_Compass_Calibration.cpp
+++ b/libraries/AP_Compass/AP_Compass_Calibration.cpp
@ -313,7 +313,7 @@ MAV_RESULT Compass::handle_mag_cal_command(const mavlink_command_long_t &packet)
				@@ -313,7 +313,7 @@ MAV_RESULT Compass::handle_mag_cal_command(const mavlink_command_long_t &packet)
    case MAV_CMD_DO_START_MAG_CAL: {
        result = MAV_RESULT_ACCEPTED;
        if (hal.util->get_soft_armed()) {
-            hal.console->printf("Disarm for compass calibration\n");
+            gcs().send_text(MAV_SEVERITY_NOTICE, "Disarm to allow compass calibration");
            result = MAV_RESULT_FAILED;
            break;
        }